Subject:
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Re: Replacement Firmware Released
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 24 Dec 2004 09:49:06 GMT
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Viewed:
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1425 times
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In lugnet.robotics, Dick Swan wrote:
> The behavior you've experienced is expected.
>
> Standard Lego firmware implements a 100 msec delay when you directly
> "flip" or change powered motor direction. I expect it is a bug (rather
> than design intent) that if you go through the stage
> Forward->Off->Reverse that there is no delay. The 'Off' cancels the
> timer.
>
> In the replacement firmware, the motor transition delay is always
> implemented when changing powered direction. The delay is user
> programmable as Philo has pointed out. I wanted to provide full
> backwards compatability with the Lego firmware but not to the extent of
> copying their bugs.
>
> If you look at the "OnFwd" in NQC you'll see that it is a macro that
> does On, Wait, Off. So in your code snippet you're actually going
> through the Forward->Off->Reverse sequence.
>
>
> "Philippe Hurbain" <philohome@free.fr> wrote in message
> news:I96Eo4.1t6A@lugnet.com...
> > > I did exactly the same thing today, and found I needed a figure of
> > > about twenty
> > > to acheive reliable back and forth motion. I think it may be
> > > something to do
> > > with the fact that the rcx firmware(s) will not let you switch motor
> > > direction
> > > instantly (without tweaking). I beleive their is a timing value that
> > > controls
> > > this behaviour.
> >
> > Indeed, it vibrates fine if you set nMotorTransitionDelay = 0
> >
> > Philo
I don't think this is a bug in the original firmware, but rather a protection
against burning electronics parts in the RCX or dammaging motors flipping the
motor directions too rapidly. Motors present some interesting electronics
behaviour due to induced voltages. So, be careful, when fast-flipping
directions. For this reason, Ultimate Robolab adds a pause to the switching
command, if the program detects that the directions are toggled. The delay
depends on the applied motor-power.
Congrates for your work Dick !
Claude
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Message is in Reply To:
 | | Re: Replacement Firmware Released
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| The behavior you've experienced is expected. Standard Lego firmware implements a 100 msec delay when you directly "flip" or change powered motor direction. I expect it is a bug (rather than design intent) that if you go through the stage (...) (20 years ago, 23-Dec-04, to lugnet.robotics)
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